/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "tim.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "oled.h"
#include "home.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
extern enum HOMESTATE hstate;
extern struct ledstate lstate;
extern struct motorstate mstate;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_I2C1_Init();
  MX_TIM3_Init();
  MX_TIM4_Init();
  /* USER CODE BEGIN 2 */
  OLED_Init();
  OLED_Clear();
  ShowHome();
  HAL_TIM_Base_Start_IT(&htim4);
  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
    int cnt = 0;
    while(cnt < 720000) cnt++;
    cnt = 0;
    while(KEY1)
    {
      cnt++;
    }
    while(KEY2)
    {
      cnt++;
    }
    if(cnt > 600000)
    {
        if(hstate == LEDMODE)
        {
          hstate = HOME;
          ShowHome();
          lstate.L1 = 0;
          lstate.L2 = 0;
          lstate.L4 = 0;
        }
        else if(hstate == MOTORMODE)
        {
          if(mstate.method == MOFF)
          {
            hstate = HOME;
            ShowHome();
          }
          else if(mstate.way == WOFF)
          {
            mstate.method = MOFF;
            ShowMotor();
          }
          else//ANGLE
          {
            mstate.way = WOFF;
            ShowWay();
          }
        }
      __HAL_GPIO_EXTI_CLEAR_IT(GPIO_Pin);
    }
    //长按返回主界�???
    else
    {
        if(hstate == HOME)
        {
            if(GPIO_Pin == GPIO_PIN_1)
            {
                hstate = LEDMODE;
                OLED_Clear();
                ShowLed();
            }
            else //(GPIO_Pin == GPIO_PIN_2)
            {
                hstate = MOTORMODE;
                ShowMotor();
            }
        }
        else if(hstate == LEDMODE)
        {
            if(GPIO_Pin == GPIO_PIN_1)
            {
                lstate.L1++;
                if(lstate.L1 > 2) lstate.L1 -= 3;
                ShowLed();
            }
            else if(GPIO_Pin == GPIO_PIN_2)
            {
                lstate.L2++;
                if(lstate.L2 > 3) lstate.L2 -= 4;
                ShowLed();
            }
        }
        else
        {
          if(mstate.method == MOFF)
          {
            if(GPIO_Pin == GPIO_PIN_1)
            {
              mstate.method = SPEED;
            }
            else
            {
              mstate.method = ANGLE;
            }
            ShowWay();
          }
          else if(mstate.way == WOFF)
          { 
            OLED_Clear();
            if(GPIO_Pin == GPIO_PIN_1)
            {
              mstate.way = STICK;
              OLED_ShowString8X16(0,0,"Sticl Controling");
            }
            else
            {
              mstate.way = IMU;
              OLED_ShowString8X16(0,0,"IMU Controling");
            }
          }
        }
    }
  cnt = 0;
  while(cnt < 720000) cnt++;
  __HAL_GPIO_EXTI_CLEAR_IT(GPIO_Pin);
}

void HAL_GPIO_EXTI_IRQHandler(uint16_t GPIO_Pin)
{
  /* EXTI line interrupt detected */
  if(__HAL_GPIO_EXTI_GET_IT(GPIO_Pin) != RESET)
  {
//    __HAL_GPIO_EXTI_CLEAR_IT(GPIO_Pin);
    HAL_GPIO_EXTI_Callback(GPIO_Pin);
  }
}

// 5ms�???次中�???
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  if(hstate == HOME)
  {
    __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_3, 0);
    __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, 0);
  }
  else if(hstate == LEDMODE){
  static uint16_t time = 0;
  if(lstate.L1 == 0 || lstate.L2 == 0)
  {
    __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_3, 0);
    __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, 0);
  }
  else if(lstate.L1 == 1)
  { 
    time++;
    if(time == L2_time()/2)
    {
        __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_3, 400);
        __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, 0);
        lstate.L4++;
        if(lstate.L4 > 9) lstate.L4 -= 10;
        ShowLed();
    }
    else if(time >= L2_time())
    {
        __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_3, 0);
        __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, 400);
        time = 0;
    }
  }
  else if (lstate.L1 == 2)
  { 
    time++;
    if(lstate.L2 == 1)
    {
      if(time <= 400)
      {
        __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_3, time);
        __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, time);
      }
      else if(time <= 800)
      {
        __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_3, 800-time);
        __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, 800-time);
      }
      else 
      {
        time = 0;
        lstate.L4++;
        if(lstate.L4 > 9) lstate.L4 -= 10;
        ShowLed();
      }
    }
    else if(lstate.L2 == 2)
    {
      if(time <= 400)
      {
        __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_3, time);
        __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, 400-time);
      }
      else if(time <= 800)
      {
        __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_3, 800-time);
        __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, time-400);
      }
      else 
      {
        time = 0;
        lstate.L4++;
        if(lstate.L4 > 9) lstate.L4 -= 10;
        ShowLed();
      }
    }
    else if(lstate.L2 == 3)
    {
      time ++;
      if(time <= 400)
      {
        __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_3, time/2);
        __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, 0);
      }
      else if(time <= 800)
      {
        __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_3, 0);
        __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, time/2);
      }
      else if(time <= 1200)
      {
        __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_3, 800-time/2);
        __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, 0);
      }
      else if(time <= 1600)
      {
        __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_3, 0);
        __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, 800-time/2);
      }
      else
      {
        time = 0;
        lstate.L4++;
        if(lstate.L4 > 9) lstate.L4 -= 10;
        ShowLed();
      }
    }
  }
  }
/************************************************************************************ */
  else if(hstate == MOTORMODE)
  {


    
  }
}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
